update custom robot

samuk · Feb 8, 2022 · 8dcbf57 · 8dcbf57
1 parent 6835a5e
commit 8dcbf57
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Showing 4 changed files with 10 additions and 10 deletions.
diff --git a/calibration/platformio.ini b/calibration/platformio.ini
@@ -68,10 +68,10 @@ build_flags =
     -I ../config
     -D USE_BEEBO_M_CONFIG
 
-[env:hex] 
+[env:square] 
 platform = teensy
 upload_protocol = teensy-cli
 board = teensy40
 build_flags = 
     -I ../config
-    -D USE_HEX_CONFIG
+    -D USE_SQUARE_CONFIG
diff --git a/config/config.h b/config/config.h
@@ -20,15 +20,15 @@
     #include "custom/beebo_m_config.h"
 #endif
 
-#ifdef USE_HEX_CONFIG
-    #include "custom/hex_config.h"
+#ifdef USE_SQUARE_CONFIG
+    #include "custom/square_config.h"
 #endif
 
 #ifdef USE_DEV_CONFIG
     #include "custom/dev_config.h"
 #endif
 
-#if !defined (USE_BEEBO_CONFIG) && !defined (USE_DEV_CONFIG) && !defined (USE_HEX_CONFIG) && !defined (USE_BEEBO_M_CONFIG)
+#if !defined (USE_BEEBO_CONFIG) && !defined (USE_DEV_CONFIG) && !defined (USE_SQUARE_CONFIG) && !defined (USE_BEEBO_M_CONFIG)
     #include "lino_base_config.h"
 #endif
 
diff --git a/config/custom/hex_config.h → config/custom/square_config.h b/config/custom/hex_config.h → config/custom/square_config.h
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef HEX_CONFIG_H
-#define HEX_CONFIG_H
+#ifndef SQUARE_CONFIG_H
+#define SQUARE_CONFIG_H
 
 #define LED_PIN 13 
 
@@ -36,7 +36,7 @@
 #define COUNTS_PER_REV3 2421
 #define COUNTS_PER_REV4 2501
 #define WHEEL_DIAMETER 0.09               
-#define LR_WHEELS_DISTANCE 0.255            
+#define LR_WHEELS_DISTANCE 0.24            
 #define PWM_BITS 10                        
 #define PWM_FREQUENCY 20000
 

diff --git a/firmware/platformio.ini b/firmware/platformio.ini
@@ -99,7 +99,7 @@ build_flags =
     -I ../config
     -D USE_BEEBO_M_CONFIG
 
-[env:hex] 
+[env:square] 
 platform = teensy
 upload_protocol = teensy-cli
 board = teensy40
@@ -108,4 +108,4 @@ build_flags =
     -L $PROJECT_DIR/.pio/libdeps/$PIOENV/micro_ros_arduino/src/imxrt1062/fpv5-d16-hard/
     -l libmicroros
     -I ../config
-    -D USE_HEX_CONFIG
+    -D USE_SQUARE_CONFIG